检索结果-南通市图书馆

Novel Flexible Foot System for Humanoid Robot Adaptable to Uneven Ground

Chinese Journal of Mechanical Engineering 2010年第6期23卷 725-732页

作者： WEI Hui SHUAI Mei WANG Zhongyu ZHANG Chuanyou LI Li School of Instrumentation Science and Opto-electronics Engineering Beihang University Beijing 100191 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China zhejiang new jack sewing machine co Ltd Taizhou 318010 China

Humanoid robots can walk stably on flat ground, regular slopes, and stairs. However, because of their rigid and flat soles, adapting to unknown rough terrains is limited, moreover, to maintain large scale four-point contact for foot structures to keep balance is usually a key technical problem. In order to solve these problems, the control strategy and foot structures should be improved. In this paper, a novel flexible foot system is proposed. This system occupies 8 degrees of freedom （DOF）, and can obtain larger support region to keep in four-point contact with uneven terrains; Novel cable transmission technology is put forward to reduce complexity of traditional mechanism and control strategy, and variation of each DOF is mapped to cable displacement. Furthermore, kinematics of this new system and a global dynamic model based on contact-force feedback are analyzed. According to stability criterion and feedback sensor information, a method calculating the optimal attitude matrix of contact points and joint variables is introduced. Virtual prototyping models of a 30-DOF humanoid robot and rough terrain are established to simulate humanoid robot walking on uneven ground, and feasibility of this system adapted to uneven terrain and validity of its control strategy are verified. The proposed research enhances the capability of humanoid robots to adapt to large scale uneven ground, expands the application field of humanoid robots, and thus lays a foundation for studies of humanoid robots performing tasks in complex environments in place of humans.

关键词： humanoid robots flexible foot contact force feedback uneven ground

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Effects of a cordura Material Ankle-Foot Orthosis on Balance Performance in Patients with Foot Drop

引用

Journal of Donghua University(English Edition) 2016年第4期33卷 583-586页

作者：唐智仇裕翔康国芳汪丽娜周韵雯刘志辉 Jiangxi jack machine Tool co . Ltd. college of Mechanical Engineering Donghua University Textile Equipment Engineering Research Center Ministry of Education

As one of the clinical manifestations in patients with hemiplegia after stroke,most of the patients with foot drop suffer from gait disturbance and balance dysfunction, generally accompanied by strephenopodia. There are relatively few researches on the balance ability of patients with foot drop worldwide,while the balance ability will directly affect the walking ability for recovery,so the research is significant in the rehabilitation of foot drop. In the experiment,the cordura material ankle-foot orthosis （AFO）,one of the world leading technology products,is chosen as the experimental equipment because of its well-known durability and strength. The experiment studied the balance performance of patients with foot drop before and after wearing cordura material AFO. The Berg scale was evaluated to discuss the effect of the orthosis on balance ability in patients with foot drop. It has been found that the wearing equipment BBS scores were significantly improved. There were significant differences comparing with the control group（ P＆lt;0.05）.But in the course of treatment the Berg balance scale （BBS） scores reduced individually,mainly in terms of leg flexibility.

关键词： disturbance durability suffer rehabilitation walking chosen accompanied correct formulated flexibility

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Effects of Memory Foam on Optimizing Shoulder Fatigue of Wearable Exoskeleton

引用

Journal of Donghua University(English Edition) 2016年第4期33卷 536-539页

作者：刘志辉仇裕翔朱之昊周韵雯唐智 college of Mechanical Engineering Donghua University Textile Equipment Engineering Research Center Ministry of EducationDonghua University Jiangxi jack machine Tool co . Ltd.

Wearable exoskeleton is a wearable device to enhance human ability,however,it is too heavy because of some constraints,such as material,structure and energy storage battery. Thus it brings fatigue to people after a long period of wearing. The research aims at optimizing shoulder fatigue and improving wearing comfort by means of changing the device-body contact material. After analyzing the current wearable exoskeletons ' weight, a standard load was set and a wearable exoskeleton was designed that could switch the weight. The experiment chose movement stability and change of cumulative pressure upon shoulder as the indexes of fatigue. The indexes were measured and analyzed before and after changing the contact material to memory foam with the standard load. The results showed promotion in action stability and obvious decrease in cumulative pressure upon *** experiment proves that the using of memory foam in wearable exoskeleton has evident effects on optimizing shoulder fatigue with load,promoting movement stability and wearing comfort.

关键词： shoulder comfort fatigue cumulative battery constraints optimizing evident button needle

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

使用臭氧清洗膜过滤设备的方法

引用

水处理信息报导 2005年第5期 50-50页

作者： Ikeda，Keiich 刘国晶（编译） Janome sewing machine co． Ltd．Japan

该清洗方法包括：使清洗用水通过具有微滤或超滤模板的原液一侧，并向该侧提供含有臭氧的气泡；混合排放清洗水和臭氧气泡，使混合物回流到模板的原液一侧。该膜滤设备包括：膜板、清洗水的供应管线、清洗水排放管线、供应逆流清洗水到... 详细信息

该清洗方法包括：使清洗用水通过具有微滤或超滤模板的原液一侧，并向该侧提供含有臭氧的气泡；混合排放清洗水和臭氧气泡，使混合物回流到模板的原液一侧。该膜滤设备包括：膜板、清洗水的供应管线、清洗水排放管线、供应逆流清洗水到膜板的管线、供应臭氧气泡到清洗水供应管线和模板原液一侧的设备和一个安装在排放管线中，用来混合及搅动臭氧气泡和清洗水的装置。

关键词：清洗方法过滤设备臭氧膜板清洗水水供应混合物排放管膜滤设备气泡

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Mechanism and preventive measures of slurry leakage at shield tail brushes under abnormal shutdown condition—A case study

引用

Underground Space 2023年第1期8卷 144-161页

作者： Fei Ye Haolan Feng Xingbo Han Xiaoming Liang Haidong Sun Wenjun Zhang Xiaoyong Cao School of Highway Chang’an UniversityXi’an 710064China CCCC First Highway consultants co. LtdChina710065 Xi’anChina School of Civil Engineering Tianjin UniversityTianjin 300350China

Based on an underwater shield tunnel project,this study introduces the phenomenon of abnormal shutdown and the measures designed to mitigate problems in *** the strength of the analysis of the slurry leakage causes during re-tunneling,the mech-anism of slurry leakage induced by jack retraction was studied,and treatment measures of leakage at shield tail brushes were elaborated *** results show that the sudden change of stratum leads to an abnormal shutdown,and a sharp increase in the slurry pressure at the shield cut location leads to the slurry penetrating the gap between the outer wall of the shield shell and the soil,increasing the risk of instantaneous breakdown at shield tail *** radial displacement of the outer wall of the segments caused by retractions of three jacks and a single jack along the circumferential direction distinctly shows three regions and four regions,*** radial shrink-age of the outer wall of the segments at the jack retraction position decreases the tightness between the shield tail brushes and the outer wall of the *** expansion of the outer wall of the segments at the surrounding position,especially at the lower position,increases the slurry level to the radial shrinkage position of the segments,which increases the risk of slurry ***,when the shield machine faces an abnormal shutdown,re-tunneling,and assembly of segments,the jack can be gradually retracted from top to *** slurry leakage degree can be observed when retracting,and the corresponding measures can be taken for timely *** to the leakage degree,it can be determined whether to replace the shield tail brushes to reduce the risk of large-scale leakage accidents.

关键词： Shield tunnel Shield tail brushes Slurry leakage jack retraction Segment displacement

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

High-reliability zircon separation for hunting the oldest material on Earth： An automatic zircon separator with image-processing/microtweezers-manipulating system and double-step dating

引用

Geoscience Frontiers 2018年第4期9卷 1073-1083页

作者： Yukio Isozaki Shinji Yamamoto Shuhei Sakata Hideyuki Obayashi Takafumi Hirata Ken-ichi Obori Toshinori Maebayashi Satoshi Takeshima Toshikazu Ebisuzaki Shigenori Maruyama Department of Earth Science and Astronomy The University of Tokyo Komaba Meguro Tokyo 153-8902 Japan Department of Human Environmental Studies Yokohama National University Hodogaya Yokohama 240-8501 Japan Department of Chemistry Gakushuin University Mejiro Toshima Tokyo 171-8588 Japan Department of Geology and Mineralogy Kyoto University Kitashirakawa Oiwakecho Sakyo-ku Kyoto 606-8502 Japan Geochemical Research Center The University of Tokyo Hongo 7-3-1 Bunkyo Tokyo 113-0033 Japan Horiba Ltd. Kanda Chiyoda Tokyo 101-0063 Japan MicroSupport co. Ltd. Hiratsuka Kanagawa 254-0035 Japan Mitani corporation Takada Toshima Tokyo 171-0033 Japan Riken Wako Saitama 351-0198 Japan ELSI Tokyo Institute of Technology Meguro Tokyo 152-8551 Japan

Despite the recent development in radiometric dating of numerous zircons by LA-ICPMS, mineral separation still remains a major obstacle, particularly in the search for the oldest material on Earth. To improve the efficiency in zircon separation by an order of magnitude, we have designed/developed a new machine-an automatic zircon separator（AZS）. This is designed particularly for automatic pick-up of100 μm-sized zircon grains out of a heavy mineral fraction after conventional separation procedures. The AZS operates in three modes：（1） image processing to choose targeted individual zircon grains out of all heavy minerals spread on a tray,（2） automatic capturing of the individual zircon grains with microtweezers, and（3） placing them one-by-one in a coordinated alignment on a receiving tray. The automatic capturing was designed/created for continuous mineral selecting without human presence for many hours. This software also enables the registration of each separated zircon grain for dating, by recording digital photo-image, optical（color） indices, and coordinates on a receiving tray. We developed two new approaches for the dating; i.e.（1） direct dating of zircons selected by LA-ICPMS without conventional resin-mounting/polishing,（2） high speed U-Pb dating, combined with conventional sample preparation procedures using the new equipment with multiple-ion counting detectors（LA-MIC-ICPMS）.With the first approach, Pb-Pb ages obtained from the surface of a mineral were crosschecked with the interior of the same grain after resin-mounting/polishing. With the second approach, the amount of time required for dating one zircon grain is ca. 20 s, and a sample throughput of 〉150 grains per hour can be achieved with sufficient precision（ca. 0.5%）.We tested the practical efficiency of the AZS, by analyzing an Archean jack Hills conglomerate in Western Australia with the known oldest（〉4.3 Ga） zircon on Earth. Preliminary results are positive; we were able to obtain more than 194 zirc

关键词： Hadean Zircon U-Pb dating LA-ICPMS Automatic mineral separator Primordial crust

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：